4 <meta charset="utf-8" />
6 <link rel="stylesheet" href="assets/stylesheets/bootstrap.min.css">
7 <link rel="stylesheet" href="assets/stylesheets/jquery-ui.css">
8 <link rel="stylesheet" href="assets/stylesheets/jquery.minicolors.css">
11 .minicolors-theme-default.minicolors { margin: 5px; }
12 .bottom-leds > .minicolors-theme-default.minicolors { margin: 5px 0; }
13 .top-leds > .minicolors-theme-default.minicolors { margin-top: 70px; }
14 .wt-icon {background: url('assets/images/wt_top.png'); background-size: cover; background-size: 100%; background-repeat: no-repeat; background-position: center; height: 260px;}
18 background-color: #bbb;
20 display: inline-block;
24 <script type="text/javascript">
26 var ros = new ROSLIB.Ros();
27 ros.connect('ws://wildthumper:9090');
28 var isDragging = false;
30 ros.on('connection', function() {
31 $("#information").append(`
32 <div class="alert alert-dismissible alert-success">
33 <span data-dismiss="alert">Connected to websocket server.</span>
38 ros.on('error', function(error) {
39 $("#information").append(`
40 <div class="alert alert-dismissible alert-danger">
41 <span data-dismiss="alert">Error connecting to websocket server.</span>
46 ros.on('close', function() {
47 $("#information").append(`
48 <div class="alert alert-dismissible alert-info">
49 <span data-dismiss="alert">Connection to websocket server closed.</span>
54 //tfClient.subscribe('base_link', function(tf) {
55 // var now = new Date();
56 // $("#pose").text(now.toLocaleTimeString() + ": (" + tf.translation.x + ", " + tf.translation.y + ")");
58 // robotMarker.x = tf.translation.x;
59 // robotMarker.y = -tf.translation.y;
60 // robotMarker.rotation = viewer2D.scene.rosQuaternionToGlobalTheta(tf.rotation);
62 var poseTopic = new ROSLIB.Topic({ros: ros, name: '/robot_pose', messageType: 'geometry_msgs/Pose'});
63 var sensorTopic = new ROSLIB.Topic({ros: ros, name: '/sensors', messageType: 'wild_thumper/Sensor'});
64 var batteryTopic = new ROSLIB.Topic({ros: ros, name: '/battery', messageType: 'sensor_msgs/BatteryState'});
65 var ledStripeTopic = new ROSLIB.Topic({ros: ros, name: '/led_stripe', messageType: 'wild_thumper/LedStripe'});
66 var cmdVelTopic = new ROSLIB.Topic({ros: ros, name: '/teleop/cmd_vel', messageType: 'geometry_msgs/Twist'});
68 poseTopic.subscribe(function(message) {
70 $("#pose").text(now.toLocaleTimeString() + ": (" + message.position.x + ", " + message.position.y + ")");
73 sensorTopic.subscribe(function(message) {
74 sensordiv = $("#sensors")
75 sensordiv.find("input[name=light]").val(message.light);
76 sensordiv.find("input[name=temp]").val(message.temp.toFixed(1));
77 sensordiv.find("input[name=humidity]").val(message.humidity);
78 sensordiv.find("input[name=pressure]").val(message.pressure.toFixed(1));
79 sensordiv.find("input[name=co]").val(message.co);
82 batteryTopic.subscribe(function(message) {
83 powerdiv = $("#power");
84 powerdiv.find("input[name=voltage]").val(message.voltage.toFixed(1));
85 powerdiv.find("input[name=current]").val(message.current.toFixed(1));
88 viewer2D = new ROS2D.Viewer({
95 .bind('mousewheel', function(e) {
96 if (e.originalEvent.wheelDelta/120 > 0) {
97 viewer2D.scaleToDimensions(10, 10)
99 viewer2D.scaleToDimensions(5, 5)
102 .mousedown(function() {
104 mousePreX = undefined;
105 mousePreY = undefined;
107 .mouseup(function() {
110 .mousemove(function(event) {
112 if (mousePreX != undefined && mousePreY != undefined) {
113 var diffX = event.pageX - mousePreX;
114 var diffY = event.pageY - mousePreY;
115 console.log("Moving viewer2D by " + diffX + ", " + diffY);
116 viewer2D.shift(diffX, diffY);
118 mousePreX = event.pageX;
119 mousePreY = event.pageY;
123 // Setup the nav client.
124 NAV2D.OccupancyGridClientNav({
126 rootObject : viewer2D.scene,
128 serverName : '/move_base'
131 // Initialize the teleop.
132 teleop = new KEYBOARDTELEOP.Teleop({
134 topic : '/teleop/cmd_vel'
137 // Create a UI slider using JQuery UI.
138 $('#speed-slider').slider({
144 slide : function(event, ui) {
145 // Change the speed label.
146 $('#speed-label').html('Speed: ' + ui.value + ' m/s');
148 teleop.scale = (ui.value * 2);
152 // Set the initial speed.
153 $('#speed-label').html('Speed: ' + ($('#speed-slider').slider('value')) + ' m/s');
154 teleop.scale = ($('#speed-slider').slider('value') * 2);
156 $('.led_color').minicolors({
159 defaultValue: '#000000',
160 change: function(value) {
161 var rgb = $(this).minicolors('rgbObject');
162 var nums = jQuery.parseJSON($(this).prop("name"));
163 var msg = new ROSLIB.Message({
166 jQuery.each(nums, function(i, num) {
169 red: parseInt(rgb.r*127/255),
170 green: parseInt(rgb.g*127/255),
171 blue: parseInt(rgb.b*127/255)
174 ledStripeTopic.publish(msg);
178 function setSpeed(trans, rot) {
179 var msg = new ROSLIB.Message({
191 cmdVelTopic.publish(msg);
195 .bind('mousedown touchstart', function(e) {
198 .bind('mouseup touchend mouseleave', function(e) {
202 .bind('mousemove touchmove', function(e) {
204 // absolute click position
206 if (e.originalEvent.touches) {
207 X = e.originalEvent.touches[0].pageX;
208 Y = e.originalEvent.touches[0].pageY;
213 // relative click position
214 var Xrel = X - this.offsetLeft - $(this).width()/2;
215 var Yrel = Y - this.offsetTop - $(this).height()/2;
217 var trans = -Yrel / ($(this).height()/2);
218 var rot = -Xrel / ($(this).width()/2);
219 setSpeed(trans, rot*3);
224 <title>Wild Thumper control</title>
226 <body onload="init()">
227 <div class="container-fluid">
228 <div id="information">
231 <nav class="navbar navbar-expand-lg navbar-light bg-light">
232 <a class="navbar-brand" href="#">Wild Thumper</a>
233 <ul class="nav nav-tabs" role="tablist">
234 <li class="nav-item">
235 <a class="nav-link active" href="#data" data-toggle="tab" role="tab">Data</a>
237 <li class="nav-item">
238 <a class="nav-link" href="#navigation" data-toggle="tab" role="tab">Navigation</a>
240 <li class="nav-item">
241 <a class="nav-link" href="#lights" data-toggle="tab" role="tab">Lights</a>
243 <li class="nav-item">
244 <a class="nav-link" href="#drive" data-toggle="tab" role="tab">Drive</a>
248 <div class="tab-content">
249 <div id="data" class="tab-pane active" role="tabpanel">
251 <div id="power" class="col-auto">
253 <label>Voltage:</label>
254 <div class="input-group">
255 <input type=text name="voltage" class="form-control" readonly>
256 <div class="input-group-append">
257 <span class="input-group-text">V</span>
260 <label>Current:</label>
261 <div class="input-group">
262 <input type=text name="current" class="form-control" readonly>
263 <div class="input-group-append">
264 <span class="input-group-text">A</span>
268 <div id="sensors" class="col-auto">
270 <label>Light:</label>
271 <div class="input-group">
272 <input type=text name="light" class="form-control" readonly>
273 <div class="input-group-append">
274 <span class="input-group-text">lx</span>
277 <label>Temperature:</label>
278 <div class="input-group">
279 <input type=text name="temp" class="form-control" readonly>
280 <div class="input-group-append">
281 <span class="input-group-text">℃</span>
284 <label>Humidity:</label>
285 <div class="input-group">
286 <input type=text name="humidity" class="form-control" readonly>
287 <div class="input-group-append">
288 <span class="input-group-text">%</span>
291 <label>Pressure:</label>
292 <div class="input-group">
293 <input type=text name="pressure" class="form-control" readonly>
294 <div class="input-group-append">
295 <span class="input-group-text">kPa</span>
299 <input type=text name="co" class="form-control" readonly>
303 <div id="navigation" class="tab-pane" role="tabpanel">
304 <div id="pose"></div>
306 <div id="speed-label"></div>
307 <div id="speed-slider"></div>
309 <div id="lights" class="tab-pane" role="tabpanel">
311 <div class="col-md-2 offset-md-1" >
312 <div class="d-flex justify-content-center">
313 <input class="led_color" type="hidden" name="[0]" readonly="true"/>
314 <input class="led_color" type="hidden" name="[1]" readonly="true"/>
315 <input class="led_color" type="hidden" name="[2]" readonly="true"/>
316 <input class="led_color" type="hidden" name="[3]" readonly="true"/>
319 <div class="row wt-icon">
320 <div class="col-md-2 align-self-center bottom-leds">
321 <input class="led_color" type="hidden" name="[14]" readonly="true"/>
322 <input class="led_color" type="hidden" name="[15]" readonly="true"/>
324 <div class="col-md-8">
325 <div class="d-flex justify-content-center top-leds">
326 <input class="led_color" type="hidden" name="[7]" readonly="true"/>
327 <input class="led_color" type="hidden" name="[6]" readonly="true"/>
328 <input class="led_color" type="hidden" name="[5]" readonly="true"/>
329 <input class="led_color" type="hidden" name="[4]" readonly="true"/>
332 <div class="col-md-2 align-self-center bottom-leds">
333 <input class="led_color" type="hidden" name="[13]" readonly="true"/>
334 <input class="led_color" type="hidden" name="[12]" readonly="true"/>
338 <div class="d-flex justify-content-center">
339 <input class="led_color" type="hidden" name="[8]" readonly="true"/>
340 <input class="led_color" type="hidden" name="[9]" readonly="true"/>
341 <input class="led_color" type="hidden" name="[10]" readonly="true"/>
342 <input class="led_color" type="hidden" name="[11]" readonly="true"/>
345 <div class="col-md-3 offset-md-1">
346 <div class="form-group row">
347 <label class="col-sm-2 col-form-label">Alle</label>
348 <div class="col-sm-10">
349 <input class="led_color" type="text" name="[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15]" class="form-control" readonly="true"/>
352 <div class="form-group row">
353 <label class="col-sm-2 col-form-label">Front</label>
354 <div class="col-sm-10">
355 <input class="led_color" type="text" name="[0, 1, 2, 3]" class="form-control" readonly="true"/>
358 <div class="form-group row">
359 <label class="col-sm-2 col-form-label">Aft</label>
360 <div class="col-sm-10">
361 <input class="led_color" type="text" name="[8, 9, 10, 11]" class="form-control readonly="true""/>
364 <div class="form-group row">
365 <label class="col-sm-2 col-form-label">Top</label>
366 <div class="col-sm-10">
367 <input class="led_color" type="text" name="[4, 5, 6, 7]" class="form-control" readonly="true"/>
370 <div class="form-group row">
371 <label class="col-sm-2 col-form-label">Bottom</label>
372 <div class="col-sm-10">
373 <input class="led_color" type="text" name="[12, 13, 14, 15]" class="form-control" readonly="true"/>
379 <div id="drive" class="tab-pane" role="tabpanel">
380 <div class="cmd_vel_circle"></div>
384 <script src="assets/javascripts/jquery-3.3.1.min.js"></script>
385 <script src="assets/javascripts/popper.min.js"></script>
386 <script src="assets/javascripts/bootstrap.min.js"></script>
387 <script src="assets/javascripts/jquery-ui.min.js"></script>
388 <script src="assets/javascripts/easeljs.min.js"></script>
389 <script src="assets/javascripts/eventemitter2.js"></script>
390 <script src="assets/javascripts/roslib.js"></script>
391 <script src="assets/javascripts/ros2d.js"></script>
392 <script src="assets/javascripts/nav2d.js"></script>
393 <script src="assets/javascripts/keyboardteleop.js"></script>
394 <script src="assets/javascripts/jquery.minicolors.js"></script>